(多分)全部+フライトピン+新しい加速度
Dependencies: mbed
motordriver.cpp@7:1c1b782263cf, 2018-10-22 (annotated)
- Committer:
- 394
- Date:
- Mon Oct 22 01:28:54 2018 +0000
- Revision:
- 7:1c1b782263cf
- Parent:
- 0:a01fda36fde8
10/22; 10:29
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
seangshim | 0:a01fda36fde8 | 1 | #include "motordriver.h" |
seangshim | 0:a01fda36fde8 | 2 | #include "mbed.h" |
seangshim | 0:a01fda36fde8 | 3 | |
seangshim | 0:a01fda36fde8 | 4 | Motor::Motor(PinName pwm, PinName fwd, PinName rev, int brakeable): |
seangshim | 0:a01fda36fde8 | 5 | _pwm(pwm), _fwd(fwd), _rev(rev) { |
seangshim | 0:a01fda36fde8 | 6 | |
seangshim | 0:a01fda36fde8 | 7 | // Set initial condition of PWM |
seangshim | 0:a01fda36fde8 | 8 | _pwm.period(0.001); |
seangshim | 0:a01fda36fde8 | 9 | _pwm = 0; |
seangshim | 0:a01fda36fde8 | 10 | |
seangshim | 0:a01fda36fde8 | 11 | // Initial condition of output enables |
seangshim | 0:a01fda36fde8 | 12 | _fwd = 0; |
seangshim | 0:a01fda36fde8 | 13 | _rev = 0; |
seangshim | 0:a01fda36fde8 | 14 | |
seangshim | 0:a01fda36fde8 | 15 | //set if the motor dirver is capable of braking. (addition) |
seangshim | 0:a01fda36fde8 | 16 | Brakeable= brakeable; |
seangshim | 0:a01fda36fde8 | 17 | sign = 0;//i.e nothing. |
seangshim | 0:a01fda36fde8 | 18 | } |
seangshim | 0:a01fda36fde8 | 19 | |
seangshim | 0:a01fda36fde8 | 20 | float Motor::speed(float speed) { |
seangshim | 0:a01fda36fde8 | 21 | float temp = 0; |
seangshim | 0:a01fda36fde8 | 22 | if (sign == 0) { |
seangshim | 0:a01fda36fde8 | 23 | _fwd = (speed > 0.0); |
seangshim | 0:a01fda36fde8 | 24 | _rev = (speed < 0.0); |
seangshim | 0:a01fda36fde8 | 25 | temp = abs(speed); |
seangshim | 0:a01fda36fde8 | 26 | _pwm = temp; |
seangshim | 0:a01fda36fde8 | 27 | } else if (sign == 1) { |
seangshim | 0:a01fda36fde8 | 28 | if (speed < 0) { |
seangshim | 0:a01fda36fde8 | 29 | _fwd = (speed > 0.0); |
seangshim | 0:a01fda36fde8 | 30 | _rev = (speed < 0.0); |
seangshim | 0:a01fda36fde8 | 31 | _pwm = 0; |
seangshim | 0:a01fda36fde8 | 32 | temp = 0; |
seangshim | 0:a01fda36fde8 | 33 | } else { |
seangshim | 0:a01fda36fde8 | 34 | _fwd = (speed > 0.0); |
seangshim | 0:a01fda36fde8 | 35 | _rev = (speed < 0.0); |
seangshim | 0:a01fda36fde8 | 36 | temp = abs(speed); |
seangshim | 0:a01fda36fde8 | 37 | _pwm = temp; |
seangshim | 0:a01fda36fde8 | 38 | } |
seangshim | 0:a01fda36fde8 | 39 | } else if (sign == -1) { |
seangshim | 0:a01fda36fde8 | 40 | if (speed > 0) { |
seangshim | 0:a01fda36fde8 | 41 | _fwd = (speed > 0.0); |
seangshim | 0:a01fda36fde8 | 42 | _rev = (speed < 0.0); |
seangshim | 0:a01fda36fde8 | 43 | _pwm = 0; |
seangshim | 0:a01fda36fde8 | 44 | temp = 0; |
seangshim | 0:a01fda36fde8 | 45 | } else { |
seangshim | 0:a01fda36fde8 | 46 | _fwd = (speed > 0.0); |
seangshim | 0:a01fda36fde8 | 47 | _rev = (speed < 0.0); |
seangshim | 0:a01fda36fde8 | 48 | temp = abs(speed); |
seangshim | 0:a01fda36fde8 | 49 | _pwm = temp; |
seangshim | 0:a01fda36fde8 | 50 | } |
seangshim | 0:a01fda36fde8 | 51 | } |
seangshim | 0:a01fda36fde8 | 52 | if (speed > 0) |
seangshim | 0:a01fda36fde8 | 53 | sign = 1; |
seangshim | 0:a01fda36fde8 | 54 | else if (speed < 0) { |
seangshim | 0:a01fda36fde8 | 55 | sign = -1; |
seangshim | 0:a01fda36fde8 | 56 | } else if (speed == 0) { |
seangshim | 0:a01fda36fde8 | 57 | sign = 0; |
seangshim | 0:a01fda36fde8 | 58 | } |
seangshim | 0:a01fda36fde8 | 59 | return temp; |
seangshim | 0:a01fda36fde8 | 60 | } |
seangshim | 0:a01fda36fde8 | 61 | // (additions) |
seangshim | 0:a01fda36fde8 | 62 | void Motor::coast(void) { |
seangshim | 0:a01fda36fde8 | 63 | _fwd = 0; |
seangshim | 0:a01fda36fde8 | 64 | _rev = 0; |
seangshim | 0:a01fda36fde8 | 65 | _pwm = 0; |
seangshim | 0:a01fda36fde8 | 66 | sign = 0; |
seangshim | 0:a01fda36fde8 | 67 | } |
seangshim | 0:a01fda36fde8 | 68 | |
seangshim | 0:a01fda36fde8 | 69 | float Motor::stop(float duty) { |
seangshim | 0:a01fda36fde8 | 70 | if (Brakeable == 1) { |
seangshim | 0:a01fda36fde8 | 71 | _fwd = 1; |
seangshim | 0:a01fda36fde8 | 72 | _rev = 1; |
seangshim | 0:a01fda36fde8 | 73 | _pwm = duty; |
seangshim | 0:a01fda36fde8 | 74 | sign = 0; |
seangshim | 0:a01fda36fde8 | 75 | return duty; |
seangshim | 0:a01fda36fde8 | 76 | } else |
seangshim | 0:a01fda36fde8 | 77 | Motor::coast(); |
seangshim | 0:a01fda36fde8 | 78 | return -1; |
seangshim | 0:a01fda36fde8 | 79 | } |
seangshim | 0:a01fda36fde8 | 80 | |
seangshim | 0:a01fda36fde8 | 81 | float Motor::state(void) { |
seangshim | 0:a01fda36fde8 | 82 | if ((_fwd == _rev) && (_pwm > 0)) { |
seangshim | 0:a01fda36fde8 | 83 | return -2;//braking |
seangshim | 0:a01fda36fde8 | 84 | } else if (_pwm == 0) { |
seangshim | 0:a01fda36fde8 | 85 | return 2;//coasting |
seangshim | 0:a01fda36fde8 | 86 | } else if ((_fwd == 0) && (_rev == 1)) { |
seangshim | 0:a01fda36fde8 | 87 | return -(_pwm);//reversing |
seangshim | 0:a01fda36fde8 | 88 | } else if ((_fwd == 1) && (_rev == 0)) { |
seangshim | 0:a01fda36fde8 | 89 | return _pwm;//fowards |
seangshim | 0:a01fda36fde8 | 90 | } else |
seangshim | 0:a01fda36fde8 | 91 | return -3;//error |
seangshim | 0:a01fda36fde8 | 92 | } |
seangshim | 0:a01fda36fde8 | 93 | |
seangshim | 0:a01fda36fde8 | 94 | /* |
seangshim | 0:a01fda36fde8 | 95 | test code, this demonstrates working motor drivers. |
seangshim | 0:a01fda36fde8 | 96 | |
seangshim | 0:a01fda36fde8 | 97 | Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can break |
seangshim | 0:a01fda36fde8 | 98 | Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can break |
seangshim | 0:a01fda36fde8 | 99 | int main() { |
seangshim | 0:a01fda36fde8 | 100 | for (float s=-1.0; s < 1.0 ; s += 0.01) { |
seangshim | 0:a01fda36fde8 | 101 | A.speed(s); |
seangshim | 0:a01fda36fde8 | 102 | B.speed(s); |
seangshim | 0:a01fda36fde8 | 103 | wait(0.02); |
seangshim | 0:a01fda36fde8 | 104 | } |
seangshim | 0:a01fda36fde8 | 105 | A.stop(); |
seangshim | 0:a01fda36fde8 | 106 | B.stop(); |
seangshim | 0:a01fda36fde8 | 107 | wait(1); |
seangshim | 0:a01fda36fde8 | 108 | A.coast(); |
seangshim | 0:a01fda36fde8 | 109 | B.coast(); |
seangshim | 0:a01fda36fde8 | 110 | } |
seangshim | 0:a01fda36fde8 | 111 | */ |